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Related Manuals for Camozzi DRCS Series
Summary of Contents for Camozzi DRCS Series
- Page 1 CANOPEN USER MANUAL SERIES DRCS DRIVE FOR STEPPER MOTORS...
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Page 2: Table Of Contents
Contents 1. Introduction 2. Drive configuration 3. Object dictionary 3.1 Cia301 profile objects 3.2 Cia 301 profile object description 3.2.1 1000h Device time 3.2.2 1001h Error register 3.2.3 1002h Manufacturer status register 3.2.4 1003h Pre-defined error field 3.2.5 1005h COB-ID sync 3.2.6 1006h Communication cycle period 3.2.7... -
Page 3: Introduction
Power 48V Motor For the CanOpen wiring it is to use the Camozzi cables. When the device is the last into the CanOpen line it is to use the terminal resistor. It is very importanto to activate the hardware enable with the pin 4 “ENB” of the connector I/O, this pin is referred to the... -
Page 4: Object Dictionary
The object dictionary is at the heart of every CanOpen device, it is defined in the EDS configuration file “drcs_rev102.eds” which can be downloaded from the Camozzi website. The objects are defined by the Cia 301 profile, the Cia 401 profile and the manufacturer’s specifications. - Page 5 User manual DRCS - CanOpen Description Type Access Default mapping value 1403 Rx PDO communication parameter 4 Highest sub-index supported COB-ID 0x80000500 Trasmission type 0xFF 1404 Rx PDO communication parameter 5 Highest sub-index supported COB-ID 0x80000000 Trasmission type 0xFF 1405 Rx PDO communication parameter 6 Highest sub-index supported COB-ID...
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Page 6: Cia 301 Profile Object Description
User manual DRCS - CanOpen Description Type Access Default mapping value 1804 Tx PDO communication parameter 5 Sub-index supported COIB-ID 0x80000000 Tranmission type 0xFF Inhibit time Compatibility entry Event timer 1805 Tx PDO communication parameter 6 Sub-index supported COIB-ID 0x80000000 Tranmission type 0xFF Inhibit time... -
Page 7: 1002H Manufacturer Status Register
User manual DRCS - CanOpen 3.2.3 1002h Manufacturer status register This object contains the device status, it is manufacturer-specific. 3.2.4 1003h Pre-defined error field This object contains errors that have occurred on the device and have been reported by emergency messages. It provides an error history. -
Page 8: 1012H Coib-Id Time Stamp
User manual DRCS - CanOpen When the correct signature is received, the device saves it in eprom and when this has been completed successfully it responds with confirmation of the SDO transmission , whereas in the event of an error, the device responds with the SDO transmission failure. Below is the list of stored objects: •... -
Page 9: 1400H - 1407H Rx Pdo Communication Parameter
User manual DRCS - CanOpen 3.2.21 1400h – 1407h Rx PDO communication parameter These objects contain the configuration of the PDO communication that the device can receive. The PDO transmission parameters are described in the CIA301 document, section 7.4.8.1. The PDO COB-ID is contained in sub-index 1: Value Description 31(MSB) -
Page 10: 1F80H Nmt Startup
Homing metod 6099h Homing speed Sub-index supported Fast homing speed 0 mm/s Slow homing speed 0 mm/s 60FFh Target velocity 0 mm/s 6402h Motor type 0x09 6402h Motor manufacturer Camozzi 6502h Supported drive modes 0x25 67FFh Single device type 0x00440192... -
Page 11: Cia 402 Profile Object Descriptions
User manual DRCS - CanOpen 3.4 CIA 402 profile object descriptions 3.4.1 603Fh Error code This object contains the last error code that occurred on the drive, it is the same information present in object 1003h sub-index 1. 3.4.2 6040h Controlword This object checks the drive status and function. -
Page 12: 6041H Statusword
User manual DRCS - CanOpen 3.4.3 6041h Statusword This read-only object represents the current status of the drive. The word is subdivided into bits with the following meanings: 14 13 rtso - ms = manufacturer specifications - qs = quick stop - oms = dependant on operating mode - ve = Power enabled... -
Page 13: 606Eh Velocity Window Time
User manual DRCS - CanOpen 3.4.9 606Eh velocity window time This object contains the minimum time in which the measured velocity must remain within the window specified by the previous object, in order for it to be in the velocity reached condition, and set the bit 10 “target reached” of the statusword. 3.4.10 606Fh Velocity threashold This object contains the zero velocity threshold value. -
Page 14: 6099H Homing Speed
User manual DRCS - CanOpen 3.4.23 6099h Homing speed This object contains the speed values used during the zero procedure. - Fast homing speed = speed used to search for the zero proximity. - Slow homing speed = speed used to depart from the zero proximity. 3.4.24 60FFh Target velocity This object contains the target velocity during the velocity profile operation. -
Page 15: 2003H Output Status
- Velocity [Inch/s] - Acceleration [Inch/s2] When the drive is configured (from QSet) to be used without a Camozzi axis / cylinder, but just with motor, the software limits are not set, and the units of measurement are: - Position [°] - Velocity [°/s]... -
Page 16: Profile Position
User manual DRCS - CanOpen Profile position The drive provides the operation with the velocity profile specified in the Cia 402 specifications. This drive operation mode requires a specific movement profile, setting the velocity and accelerations, with which to reach the position target. -
Page 17: Velocity Profile
User manual DRCS - CanOpen Velocity profile The drive requires operation with the velocity profile specified in the Cia 402 specifications. This operation mode provides for the operation of the motor at velocity, after setting the accelerations, once the velocity target is set, the motor accelerates until the target is reached and then maintains the required velocity until a new request is made. - Page 18 (without moving the motor) to zero position. This mode is convenient when the drive is used without a Camozzi linear actuator (axis / cylinder), but is configured as “only motor” via QSet and when only the velocity profile is wanted, therefore, where the absolute zero position is not required.
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Page 19: Programming Examples
User manual DRCS - CanOpen Programming examples The following are the commands to be sent to the drive, configured with address 3, to perform the main functions: - Enable the motor to execute the commands size data description $603 $2B 40 60 00 06 00 00 00 “ready to switch on $603 $2B 40 60 00 07 00 00 00... - Page 20 25126 Brescia - Italy Tel. +39 030 37921 www.camozzi.com Technical assistance Product inquiries and requests for support: Tel. +39 030 3792790 service@camozzi.com Product Certification Information concerning product certifications, EC standards, conformity declarations and instructions productcertification@camozzi.com A Camozzi Group Company www.camozzi.com...
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